System and method for piece-picking or put-away with a mobile manipulation robot

Abstract

A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.

What is claimed is: 
     
       1. A system for piece-picking or piece put-away within a logistics facility comprising:
 a central server comprising:
 a server communication interface, 
 one or more server processors, and 
 a server memory; and 
 
 at least one mobile manipulation robot comprising:
 a mobile base, 
 at least one articulated manipulator arm having an end effector, wherein the at least one articulated manipulator arm has a first end portion pivotally carried by the mobile base and a second end portion comprising the end effector, wherein the at least one articulated manipulator arm further comprises an extension tool positioned at or near the second end portion, wherein the extension tool is configured to provide access to a piece to be picked without interference from surrounding pieces or infrastructure within the logistics facility, 
 at least one piece containment area, 
 a plurality of sensors, 
 a remote communication interface, 
 a memory configured to store robot specific information, and 
 one or more robot processors coupled to the plurality of sensors, the memory, the mobile base, and the at least one articulated manipulator arm, wherein the memory comprises computer program instructions executable by the one or more robot processors to receive data from and send data to the central server, process data received from each of the plurality of sensors, and output control signals to the mobile base and the at least one articulated manipulator arm, wherein the plurality of sensors provide signals related to detection, identification, and location of the piece to be picked, and the one or more robot processors analyze the sensor information to generate articulated arm control signals to guide the extension tool and the end effector of the at least one articulated manipulator arm to pick the piece with a collision free path throughout the controlled motion of the at least one articulated manipulator arm. 
 
 
     
     
       2. The system of  claim 1 , wherein the server memory comprises computer program instructions executable by the one or more server processors to receive data from a warehouse management system and dispatch the at least one mobile manipulation robot. 
     
     
       3. The system of  claim 1 , wherein the at least one mobile manipulation robot can autonomously navigate and position itself within the logistics facility by recognition of at least one landmark by at least one of the plurality of sensors. 
     
     
       4. The system of  claim 3 , wherein the at least one landmark is a vertically mounted marker placed at a specific location within the logistics facility. 
     
     
       5. The system of  claim 1 , wherein the plurality of sensors are 3D depth cameras, color cameras, grey scale cameras, laser ranging devices, sonar devices, radar devices, or combinations thereof. 
     
     
       6. The system of  claim 1 , wherein the end effector is a gripper, a suction cup, an electroadhesion end effector, a magnetic end effector, or combinations thereof. 
     
     
       7. The system of  claim 1 , wherein the end effector is a suction cup which is connected to a vacuum pump through a valve, wherein actuation of the valve is controlled by the one or more robot processors. 
     
     
       8. The system of  claim 1 , wherein the at least one mobile manipulation robot further comprises:
 a user interface comprising a graphical display monitor and an input device. 
 
     
     
       9. The system of  claim 1 , wherein the at least one piece containment area is at least one of a platform, a pick-to-kit holder, a container holder, or any combination thereof. 
     
     
       10. The system of  claim 1 , wherein more than one piece is placed on the at least one piece containment area by the at least one articulated manipulator arm. 
     
     
       11. The system of  claim 1 , wherein the logistics facility is a warehouse, distribution center, manufacturing facility, or retail facility. 
     
     
       12. The system of  claim 1 , wherein the extension tool is configured to position the end effector within a storage rack at a sufficient depth to reach the back of the storage rack. 
     
     
       13. The system of  claim 1 , wherein the server communication interface connects with the remote communication interface to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the at least one mobile manipulation robot to take within the logistics facility. 
     
     
       14. The system of  claim 13 , wherein the unique identification for the piece to be picked comprises a shape of the piece, a size of the piece, a weight of the piece, a color of the piece, a property of the construction material of the piece, a visual marking on the piece, a barcode on the piece, or any combination thereof. 
     
     
       15. The system of  claim 1 , further comprising:
 a conveyance device configured to accept pieces from the at least one mobile manipulation robot. 
 
     
     
       16. The system of  claim 15 , wherein the conveyance device is a conveyor belt which transfers the accepted pieces from a transfer area to a receiving area. 
     
     
       17. A system for piece-picking or piece put-away within a logistics facility comprising:
 a central server comprising:
 a server communication interface, 
 one or more server processors, and 
 a server memory; and 
 
 at least one mobile manipulation robot comprising:
 a mobile base, 
 at least one articulated manipulator arm having an end effector, wherein the at least one articulated manipulator arm has a first end portion pivotally carried by the mobile base and a second end portion comprising the end effector, wherein the at least one articulated manipulator arm further comprises an extension tool positioned at or near the second end portion, and wherein the first end portion of the at least one articulated manipulator arm is mounted on a vertical actuator stage configured to raise or lower the at least one articulated manipulator arm, 
 at least one piece containment area, 
 a plurality of sensors, 
 a remote communication interface, 
 a memory configured to store robot specific information, and 
 one or more robot processors coupled to the plurality of sensors, the memory, the mobile base, and the at least one articulated manipulator arm, wherein the memory comprises computer program instructions executable by the one or more robot processors to receive data from and send data to the central server, process data received from each of the plurality of sensors, and output control signals to the mobile base and the at least one articulated manipulator arm, wherein the plurality of sensors provide signals related to detection, identification, and location of a piece to be picked, and the one or more robot processors analyze the sensor information to generate articulated arm control signals to guide the end effector of the at least one articulated manipulator arm to pick the piece. 
 
 
     
     
       18. A system for piece-picking or piece put-away within a logistics facility comprising:
 a central server comprising:
 a server communication interface, 
 one or more server processors, and 
 a server memory; and 
 
 at least one mobile manipulation robot comprising:
 a mobile base, 
 at least one articulated manipulator arm having an end effector, 
 at least one piece containment area, 
 a plurality of sensors, wherein at least one sensor is positioned at a central point on the at least one articulated manipulator arm such that rotation of the at least one articulated manipulator arm directs the at least one sensor to view the at least one piece containment area, 
 a remote communication interface, 
 a memory configured to store robot specific information, and 
 one or more robot processors coupled to the plurality sensors, the memory, the mobile base, and the at least one articulated manipulator arm, wherein the memory comprises computer program instructions executable by the one or more robot processors to receive data from and send data to the central server, process data received from each of the plurality of sensors, and output control signals to the mobile base and the at least one articulated manipulator arm, wherein the plurality of sensors provide signals related to detection, identification, and location of a piece to be picked, and the one or more robot processors analyze the sensor information to generate articulated arm control signals to guide the end effector of the at least one articulated manipulator arm to pick the piece. 
 
 
     
     
       19. The system of  claim 18 , wherein the at least one piece containment area comprises a calibration target which allows calibration of the at least one sensor positioned at a central point on the at least one articulated manipulator arm. 
     
     
       20. A system for piece-picking or piece put-away within a logistics facility comprising:
 a central server comprising:
 a server communication interface, 
 one or more server processors, and 
 a server memory; and 
 
 at least one mobile manipulation robot comprising:
 a mobile base, 
 at least one articulated manipulator arm having an end effector, 
 at least one piece containment area, wherein the at least one piece containment area is configured to sense a weight for a piece placed therein, 
 a plurality of sensors, 
 a remote communication interface, 
 a memory configured to store robot specific information, and 
 one or more robot processors coupled to the plurality sensors, the memory, the mobile base, and the at least one articulated manipulator arm, wherein the memory comprises computer program instructions executable by the one or more robot processors to receive data from and send data to the central server, process data received from each of the plurality of sensors, and output control signals to the mobile base and the at least one articulated manipulator arm, wherein the plurality of sensors provide signals related to detection, identification, and location of the piece to be picked, and the one or more robot processors analyze the sensor information to generate articulated arm control signals to guide the end effector of the at least one articulated manipulator arm to pick the piece. 
 
 
     
     
       21. A system for piece-picking or piece put-away within a logistics facility comprising:
 a central server comprising:
 a server communication interface, 
 one or more server processors, and 
 a server memory; and 
 
 at least one mobile manipulation robot comprising:
 a mobile base, 
 at least one articulated manipulator arm having an end effector, 
 at least one piece containment area, 
 a plurality of sensors, 
 a remote communication interface, 
 a memory configured to store robot specific information, 
 one or more robot processors coupled to the plurality of sensors, the memory, the mobile base, and the at least one articulated manipulator arm, wherein the memory comprises computer program instructions executable by the one or more robot processors to receive data from and send data to the central server, process data received from each of the plurality of sensors, and output control signals to the mobile base and the at least one articulated manipulator arm, wherein the plurality of sensors provide signals related to detection, identification, and location of a piece to be picked, and the one or more robot processors analyze the sensor information to generate articulated arm control signals to guide the end effector of the at least one articulated manipulator arm to pick the piece, and 
 a graphical use interface which displays user information, wherein the user information includes direction indicators which indicate the intended direction of movement of the robot, and error information. 
 
 
     
     
       22. A method of piece-picking within a logistics facility, the method comprising:
 (a) providing a piece-picking or put-away system comprising:
 a central server including a server communication interface, one or more server processors, and a server memory; and 
 at least one mobile manipulation robot including a mobile base, at least one articulated manipulator arm having an end effector, at least one piece containment area, a plurality of sensors, a remote communication interface, a robot memory configured to store robot specific information, and one or more robot processors coupled to the plurality of sensors, the memory, the mobile base, and the at least one articulated manipulation arm, wherein the at least one articulated manipulator arm has a first end portion pivotally carried by the mobile base and a second end portion comprising the end effector, wherein the at least one articulated manipulator arm further comprises an extension tool positioned at or near the second end portion, wherein the extension tool is configured to provide access to at least one item to be picked without interference from surrounding items or infrastructure within the logistics facility; 
 
 (b) receiving at the central memory via the server communication interface at least one piece-picking order including the at least one item to be picked; 
 (c) generating at the one or more server processors a piece-picking itinerary based on the at least one piece-picking order, wherein the itinerary includes a unique identification for each item to be picked, a location within a logistics facility of the items to be picked, and a route for the at least one mobile manipulation robot to take within the logistics facility; 
 (d) receiving at the robot memory the piece-picking itinerary; 
 (e) moving the at least one mobile manipulation robot along the route to the location within the logistics facility of the items to be picked; 
 (f) picking the at least one item to be picked from the location using the end effector of the at least one mobile manipulation arm, wherein the one or more robot processors analyze the sensor information to generate articulated arm control signals to guide the end effector and extension tool of the at least one articulated manipulator arm to pick the at least one item to be picked with a collision free path throughout the controlled motion of the at least one articulated manipulator arm; and 
 (g) placing the at least one item to be picked in the at least one piece containment area. 
 
     
     
       23. The method of  claim 22 , wherein the plurality of sensors provide signals related to detection, identification, and location of the at least one item to be picked, and the one or more robot processors analyze the sensor information to generate articulated arm control signals to guide the end effector of the at least one articulated manipulator arm to pick the item. 
     
     
       24. The method of  claim 22 , wherein moving the at least one mobile manipulation robot occurs autonomously by recognition of at least one landmark by at least one of the plurality of sensors. 
     
     
       25. The method of  claim 22 , wherein the at least one piece-picking order received at the central memory is generated by a warehouse management system. 
     
     
       26. A method of piece-picking within a logistics facility, the method comprising:
 (a) providing a piece-picking or put-away system comprising:
 a central server including a server communication interface, one or more server processors, and a server memory; and 
 at least one mobile manipulation robot including a mobile base, at least one articulated manipulator arm having an end effector, at least one piece containment area, a plurality of sensors, a remote communication interface, a robot memory configured to store robot specific information, and one or more robot processors coupled to the plurality of sensors, the memory, the mobile base, and the at least one articulated manipulation arm, wherein at least one of the plurality of sensors is positioned at a central point on the at least one articulated manipulator arm such that rotation of the at least one articulated manipulator arm directs the at least one sensor to view the at least one piece containment area; 
 
 (b) receiving at the central memory via the server communication interface at least one piece-picking order including at least one item to be picked; 
 (c) generating at the one or more server processors a piece-picking itinerary based on the at least one piece-picking order, wherein the itinerary includes a unique identification for each item to be picked, a location within a logistics facility of the items to be picked, and a route for the at least one mobile manipulation robot to take within the logistics facility; 
 (d) receiving at the robot memory the piece-picking itinerary; 
 (e) moving the at least one mobile manipulation robot along the route to the location within the logistics facility of the items to be picked; 
 (f) picking the at least one item to be picked from the location using the end effector of the at least one mobile manipulation arm; and 
 (g) placing the at least one item to be picked in the at least one piece containment area. 
 
     
     
       27. The method of  claim 26 , wherein the at least one piece containment area comprises a calibration target which allows calibration of the at least one sensor located at a central point on the at least one articulated manipulator arm. 
     
     
       28. A method of piece-picking within a logistics facility, the method comprising:
 (a) providing a piece-picking or put-away system comprising:
 a central server including a server communication interface, one or more server processors, and a server memory; and 
 at least one mobile manipulation robot including a mobile base, at least one articulated manipulator arm having an end effector, at least one piece containment area, a plurality of sensors, a remote communication interface, a robot memory configured to store robot specific information, and one or more robot processors coupled to the plurality of sensors, the memory, the mobile base, and the at least one articulated manipulation arm; 
 
 (b) receiving at the central memory via the server communication interface at least one piece-picking order including at least one item to be picked; 
 (c) generating at the one or more server processors a piece-picking itinerary based on the at least one piece-picking order, wherein the itinerary includes a unique identification for each item to be picked, a location within a logistics facility of the items to be picked, and a route for the at least one mobile manipulation robot to take within the logistics facility; 
 (d) receiving at the robot memory the piece-picking itinerary; 
 (e) moving the at least one mobile manipulation robot along the route to the location within the logistics facility of the items to be picked; 
 (f) picking the at least one item to be picked from the location using the end effector of the at least one mobile manipulation arm; 
 (g) placing the at least one item to be picked in the at least one piece containment area; and 
 (h) sensing a weight for the at least one item placed in the at least one piece containment area.